Ponències/Comunicacions de congressoshttp://hdl.handle.net/2117/21294
Mon, 21 Jan 2019 22:06:10 GMT2019-01-21T22:06:10ZABLE: assistive biorobotic low-cost exoskeletonhttp://hdl.handle.net/2117/115511
ABLE: assistive biorobotic low-cost exoskeleton
Font Llagunes, Josep Maria; Carnicero Carmona, Alfons; Vidal Samsó, Joan; Clos Costa, Daniel; Lugrís Armesto, Urbano; Alonso Sánchez, Francisco Javier; Cuadrado Aranda, Javier
Robotic gait training after spinal cord injury is of high priority to maximize independence and improve the health condition of these patients. Current rehabilitation robots are expensive and heavy, and are generally found only in the clinic. To overcome these issues, we present the design of a low-cost, low-weight, personalized and easy-to-use robotic exoskeleton for incomplete spinal cord injured subjects based on simple modular components that are assembled on the current passive orthopedic supports. The paper also presents a preliminary experimental assessment of the assistive device on one subject with spinal cord injury that can control hip flexion, but lacks control of knee and ankle muscles. Results show that gait velocity, stride length and cadence of walking increased (24,11%, 7,41% and 15,56%, respectively) when wearing the robotic exoskeleton compared to the case when the subject used the usual passive supports.
Wed, 21 Mar 2018 12:27:08 GMThttp://hdl.handle.net/2117/1155112018-03-21T12:27:08ZFont Llagunes, Josep MariaCarnicero Carmona, AlfonsVidal Samsó, JoanClos Costa, DanielLugrís Armesto, UrbanoAlonso Sánchez, Francisco JavierCuadrado Aranda, JavierRobotic gait training after spinal cord injury is of high priority to maximize independence and improve the health condition of these patients. Current rehabilitation robots are expensive and heavy, and are generally found only in the clinic. To overcome these issues, we present the design of a low-cost, low-weight, personalized and easy-to-use robotic exoskeleton for incomplete spinal cord injured subjects based on simple modular components that are assembled on the current passive orthopedic supports. The paper also presents a preliminary experimental assessment of the assistive device on one subject with spinal cord injury that can control hip flexion, but lacks control of knee and ankle muscles. Results show that gait velocity, stride length and cadence of walking increased (24,11%, 7,41% and 15,56%, respectively) when wearing the robotic exoskeleton compared to the case when the subject used the usual passive supports.A friction model for non-singular complementarity formulations for multibody systems with contactshttp://hdl.handle.net/2117/113500
A friction model for non-singular complementarity formulations for multibody systems with contacts
Peiret Giménez, Albert; Kövecses, József; Font Llagunes, Josep Maria
The dynamics of multibody systems with many contacts are frequently formulated as a Linear Complementarity Problem (LCP), for which several direct or iterative algorithms are available to solve it efficiently. These formulations rely on discretized friction models that approximate the friction cone of the Coulomb model to a pyramid. However, they produce rank-deficient LCPs even though the physical problem does not have constraint redundancy and has a unique solution. Here, a new discretized friction model is presented which results in an LCP formulation with a full-rank lead matrix. This model relies on an inertial term to couple the equations of the model, which behaves as close to the Coulomb model as the other discretized models. Moreover, it is shown through some simulations that some algorithms can be used with this formulation, which could not be used with the other rank-deficient LCP formulations.
Wed, 31 Jan 2018 17:40:37 GMThttp://hdl.handle.net/2117/1135002018-01-31T17:40:37ZPeiret Giménez, AlbertKövecses, JózsefFont Llagunes, Josep MariaThe dynamics of multibody systems with many contacts are frequently formulated as a Linear Complementarity Problem (LCP), for which several direct or iterative algorithms are available to solve it efficiently. These formulations rely on discretized friction models that approximate the friction cone of the Coulomb model to a pyramid. However, they produce rank-deficient LCPs even though the physical problem does not have constraint redundancy and has a unique solution. Here, a new discretized friction model is presented which results in an LCP formulation with a full-rank lead matrix. This model relies on an inertial term to couple the equations of the model, which behaves as close to the Coulomb model as the other discretized models. Moreover, it is shown through some simulations that some algorithms can be used with this formulation, which could not be used with the other rank-deficient LCP formulations.The discretized coulomb friction model in a non-singular complementarity formulation for multibody systems with contactshttp://hdl.handle.net/2117/108803
The discretized coulomb friction model in a non-singular complementarity formulation for multibody systems with contacts
Peiret Giménez, Albert; Kövecses, József; Font Llagunes, Josep Maria
Wed, 18 Oct 2017 10:41:04 GMThttp://hdl.handle.net/2117/1088032017-10-18T10:41:04ZPeiret Giménez, AlbertKövecses, JózsefFont Llagunes, Josep MariaOn the generalized friction cone for multibody systemshttp://hdl.handle.net/2117/108802
On the generalized friction cone for multibody systems
Peiret Giménez, Albert; Kövecses, József; Font Llagunes, Josep Maria
Wed, 18 Oct 2017 10:33:05 GMThttp://hdl.handle.net/2117/1088022017-10-18T10:33:05ZPeiret Giménez, AlbertKövecses, JózsefFont Llagunes, Josep MariaOptimal control prediction of a dynamically consistent walking motion for a spinal cord-injured subject assisted by orthoseshttp://hdl.handle.net/2117/108801
Optimal control prediction of a dynamically consistent walking motion for a spinal cord-injured subject assisted by orthoses
Febrer Nafría, Miriam; Mouzo, Francisco; Lugrís Armesto, Urbano; Fregly, Benjamin J.; Font Llagunes, Josep Maria
Wed, 18 Oct 2017 10:19:55 GMThttp://hdl.handle.net/2117/1088012017-10-18T10:19:55ZFebrer Nafría, MiriamMouzo, FranciscoLugrís Armesto, UrbanoFregly, Benjamin J.Font Llagunes, Josep MariaPerformance evaluation of different control strategies for the forward dynamic simulation of human gaithttp://hdl.handle.net/2117/103262
Performance evaluation of different control strategies for the forward dynamic simulation of human gait
Pätkau, Olga; Pàmies Vila, Rosa; Dòria Cerezo, Arnau; Font Llagunes, Josep Maria
Tue, 04 Apr 2017 11:17:21 GMThttp://hdl.handle.net/2117/1032622017-04-04T11:17:21ZPätkau, OlgaPàmies Vila, RosaDòria Cerezo, ArnauFont Llagunes, Josep MariaDesign and experimental evaluation of a low-cost robotic orthosis for gait assistance in subjects with spinal cord injuryhttp://hdl.handle.net/2117/101680
Design and experimental evaluation of a low-cost robotic orthosis for gait assistance in subjects with spinal cord injury
Font Llagunes, Josep Maria; Clos Costa, Daniel; Lugrís Armesto, Urbano; Alonso Sánchez, Francisco Javier; Cuadrado Aranda, Javier
Robotic gait training after spinal cord injury (SCI) is of high priority to maximize independence and improve the living conditions of these patients. Current rehabilitation robots are expensive and heavy, and are generally found only in the clinic. To overcome these issues, we present the design of a low-cost, low-weight robotic orthosis for subjects with SCI. The paper also presents a preliminary experimental evaluation of the assistive device on a subject with SCI. Results show that gait velocity, stride length and cadence of walking increased (24.11, 7.41 and 15.56 %, respectively) when wearing active orthoses compared to the case with standard passive orthoses.
Tue, 28 Feb 2017 10:35:10 GMThttp://hdl.handle.net/2117/1016802017-02-28T10:35:10ZFont Llagunes, Josep MariaClos Costa, DanielLugrís Armesto, UrbanoAlonso Sánchez, Francisco JavierCuadrado Aranda, JavierRobotic gait training after spinal cord injury (SCI) is of high priority to maximize independence and improve the living conditions of these patients. Current rehabilitation robots are expensive and heavy, and are generally found only in the clinic. To overcome these issues, we present the design of a low-cost, low-weight robotic orthosis for subjects with SCI. The paper also presents a preliminary experimental evaluation of the assistive device on a subject with SCI. Results show that gait velocity, stride length and cadence of walking increased (24.11, 7.41 and 15.56 %, respectively) when wearing active orthoses compared to the case with standard passive orthoses.Low-cost active orthosis for gait assistance of subjects with spinal cord injuryhttp://hdl.handle.net/2117/101678
Low-cost active orthosis for gait assistance of subjects with spinal cord injury
Font Llagunes, Josep Maria; Lugrís Armesto, Urbano; Febrer Nafría, Miriam; Romero Sánchez, Francisco; Pàmies Vila, Rosa; Alonso Sánchez, Francisco Javier; Cuadrado Aranda, Javier
Tue, 28 Feb 2017 09:43:57 GMThttp://hdl.handle.net/2117/1016782017-02-28T09:43:57ZFont Llagunes, Josep MariaLugrís Armesto, UrbanoFebrer Nafría, MiriamRomero Sánchez, FranciscoPàmies Vila, RosaAlonso Sánchez, Francisco JavierCuadrado Aranda, JavierDesign, control and evaluation of a low-cost active orthosis for the gait of spinal cord injured subjectshttp://hdl.handle.net/2117/101677
Design, control and evaluation of a low-cost active orthosis for the gait of spinal cord injured subjects
Font Llagunes, Josep Maria; Clos Costa, Daniel; Lugrís Armesto, Urbano; Romero Sánchez, Francisco; Pàmies Vila, Rosa; Alonso Sánchez, Francisco Javier; Cuadrado Aranda, Javier
Robotic gait training after spinal cord injury is of high priority to maximize independence and improve the living conditions of the patients. Current rehabilitation robots are expensive and heavy, and are generally found only in the clinical environment. To overcome these issues, we present the design of a low-cost, low-weight and personalized robotic orthosis for incomplete spinal cord injured subjects. The paper also presents a preliminary experimental evaluation of the assistive device on one subject with spinal cord injury that can control hip flexion to a certain extent, but lacks control of knee and ankle muscles. Results show that gait velocity, stride length and cadence
of walking increased (24,11%, 7,41% and 15,56%, respectively) when wearing active orthoses compared to the case when the subject used the usual passive orthoses.
Tue, 28 Feb 2017 09:36:36 GMThttp://hdl.handle.net/2117/1016772017-02-28T09:36:36ZFont Llagunes, Josep MariaClos Costa, DanielLugrís Armesto, UrbanoRomero Sánchez, FranciscoPàmies Vila, RosaAlonso Sánchez, Francisco JavierCuadrado Aranda, JavierRobotic gait training after spinal cord injury is of high priority to maximize independence and improve the living conditions of the patients. Current rehabilitation robots are expensive and heavy, and are generally found only in the clinical environment. To overcome these issues, we present the design of a low-cost, low-weight and personalized robotic orthosis for incomplete spinal cord injured subjects. The paper also presents a preliminary experimental evaluation of the assistive device on one subject with spinal cord injury that can control hip flexion to a certain extent, but lacks control of knee and ankle muscles. Results show that gait velocity, stride length and cadence
of walking increased (24,11%, 7,41% and 15,56%, respectively) when wearing active orthoses compared to the case when the subject used the usual passive orthoses.Can the use of an auditory feedback device improve the gait pattern of paediatric patients with hemiparesis?http://hdl.handle.net/2117/101673
Can the use of an auditory feedback device improve the gait pattern of paediatric patients with hemiparesis?
Muñoz Farré, Anna; Febrer Nafría, Miriam; Pajares, Ismael; Febrer, Anna; Pàmies Vila, Rosa; Font Llagunes, Josep Maria
Tue, 28 Feb 2017 08:36:46 GMThttp://hdl.handle.net/2117/1016732017-02-28T08:36:46ZMuñoz Farré, AnnaFebrer Nafría, MiriamPajares, IsmaelFebrer, AnnaPàmies Vila, RosaFont Llagunes, Josep Maria